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| <div class="section" id="sanity"> |
| <h1>Sanity<a class="headerlink" href="#sanity" title="Permalink to this headline">¶</a></h1> |
| <p>The Sanity task is a software watchdog task, which runs periodically to |
| check system state, and ensure that everything is still operating |
| properly.</p> |
| <p>In a typical system design, there are multiple stages of watchdog:</p> |
| <ul class="simple"> |
| <li><p>Internal Watchdog</p></li> |
| <li><p>External Watchdog</p></li> |
| <li><p>Sanity Watchdog</p></li> |
| </ul> |
| <p>The <em>Internal Watchdog</em> is typically an MCU watchdog, which is tickled |
| in the core of the OS. The internal watchdog is tickled frequently, and |
| is meant to be an indicator the OS is running.</p> |
| <p>The <em>External Watchdog</em> is a watchdog that’s typically run slower. The |
| purpose of an external watchdog is to provide the system with a hard |
| reset when it has lost its mind.</p> |
| <p>The <em>Sanity Watchdog</em> is the least frequently run watchdog, and is meant |
| as an application watchdog.</p> |
| <p>This document is about the operation of the Mynewt Sanity Watchdog.</p> |
| <div class="section" id="description"> |
| <h2>Description<a class="headerlink" href="#description" title="Permalink to this headline">¶</a></h2> |
| </div> |
| <div class="section" id="sanity-task"> |
| <h2>Sanity Task<a class="headerlink" href="#sanity-task" title="Permalink to this headline">¶</a></h2> |
| <p>Mynewt OS uses the OS Idle task to check sanity. The <code class="xref c c-macro docutils literal notranslate"><span class="pre">SANITY_INTERVAL</span></code> |
| syscfg setting specifies the interval in seconds to perform the sanity |
| checks.</p> |
| <p>By default, every operating system task provides the frequency it will |
| check in with the sanity task, with the <code class="docutils literal notranslate"><span class="pre">sanity_itvl</span></code> parameter in the |
| c:func:<cite>os_task_init()</cite> function:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span><span class="w"> </span><span class="nf">os_task_init</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_task</span><span class="w"> </span><span class="o">*</span><span class="n">t</span><span class="p">,</span><span class="w"> </span><span class="kt">char</span><span class="w"> </span><span class="o">*</span><span class="n">name</span><span class="p">,</span><span class="w"> </span><span class="n">os_task_func_t</span><span class="w"> </span><span class="n">func</span><span class="p">,</span> |
| <span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">prio</span><span class="p">,</span><span class="w"> </span><span class="n">os_time_t</span><span class="w"> </span><span class="n">sanity_itvl</span><span class="p">,</span><span class="w"> </span><span class="n">os_stack_t</span><span class="w"> </span><span class="o">*</span><span class="n">bottom</span><span class="p">,</span> |
| <span class="w"> </span><span class="kt">uint16_t</span><span class="w"> </span><span class="n">stack_size</span><span class="p">);</span> |
| </pre></div> |
| </div> |
| <p>c:var:<cite>sanity_itvl</cite> is the time in OS time ticks that the task being created |
| must register in with the sanity task.</p> |
| </div> |
| <div class="section" id="checking-in-with-sanity-task"> |
| <h2>Checking in with Sanity Task<a class="headerlink" href="#checking-in-with-sanity-task" title="Permalink to this headline">¶</a></h2> |
| <p>The task must then register in with the sanity task every |
| <code class="docutils literal notranslate"><span class="pre">sanity_itvl</span></code> seconds. In order to do that, the task should call the |
| <a class="reference internal" href="#c.os_sanity_task_checkin" title="os_sanity_task_checkin"><code class="xref c c-func docutils literal notranslate"><span class="pre">os_sanity_task_checkin()</span></code></a> function, which will reset the sanity check |
| associated with this task. Here is an example of a task that uses a |
| callout to checkin with the sanity task every 50 seconds:</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="cp">#define TASK1_SANITY_CHECKIN_ITVL (50 * OS_TICKS_PER_SEC)</span> |
| <span class="k">struct</span><span class="w"> </span><span class="nc">os_eventq</span><span class="w"> </span><span class="n">task1_evq</span><span class="p">;</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">void</span> |
| <span class="nf">task1</span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_task</span><span class="w"> </span><span class="o">*</span><span class="n">t</span><span class="p">;</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_event</span><span class="w"> </span><span class="o">*</span><span class="n">ev</span><span class="p">;</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_callout</span><span class="w"> </span><span class="n">c</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="cm">/* Get current OS task */</span> |
| <span class="w"> </span><span class="n">t</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">os_sched_get_current_task</span><span class="p">();</span> |
| |
| <span class="w"> </span><span class="cm">/* Initialize the event queue. */</span> |
| <span class="w"> </span><span class="n">os_eventq_init</span><span class="p">(</span><span class="o">&</span><span class="n">task1_evq</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/* Initialize the callout */</span> |
| <span class="w"> </span><span class="n">os_callout_init</span><span class="p">(</span><span class="o">&</span><span class="n">c</span><span class="p">,</span><span class="w"> </span><span class="o">&</span><span class="n">task1_evq</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/* reset the callout to checkin with the sanity task</span> |
| <span class="cm"> * in 50 seconds to kick off timing.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">os_callout_reset</span><span class="p">(</span><span class="o">&</span><span class="n">c</span><span class="p">,</span><span class="w"> </span><span class="n">TASK1_SANITY_CHECKIN_ITVL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="k">while</span><span class="w"> </span><span class="p">(</span><span class="mi">1</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">ev</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">os_eventq_get</span><span class="p">(</span><span class="o">&</span><span class="n">task1_evq</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="cm">/* The sanity timer has reset */</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">ev</span><span class="o">-></span><span class="n">ev_arg</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="o">&</span><span class="n">c</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="n">os_sanity_task_checkin</span><span class="p">(</span><span class="n">t</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="cm">/* not expecting any other events */</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="cm">/* Should never reach */</span> |
| <span class="w"> </span><span class="n">assert</span><span class="p">(</span><span class="mi">0</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="registering-a-custom-sanity-check"> |
| <h2>Registering a Custom Sanity Check<a class="headerlink" href="#registering-a-custom-sanity-check" title="Permalink to this headline">¶</a></h2> |
| <p>If a particular task wants to further hook into the sanity framework to |
| perform other checks during the sanity task’s operation, it can do so by |
| registering a <code class="xref c c-type docutils literal notranslate"><span class="pre">struct</span> <span class="pre">os_sanity_check</span></code> using the |
| <a class="reference internal" href="#c.os_sanity_check_register" title="os_sanity_check_register"><code class="xref c c-func docutils literal notranslate"><span class="pre">os_sanity_check_register()</span></code></a> function.</p> |
| <div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="k">static</span><span class="w"> </span><span class="kt">int</span> |
| <span class="nf">mymodule_perform_sanity_check</span><span class="p">(</span><span class="k">struct</span><span class="w"> </span><span class="nc">os_sanity_check</span><span class="w"> </span><span class="o">*</span><span class="n">sc</span><span class="p">,</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="cm">/* Perform your checking here. In this case, we check if there</span> |
| <span class="cm"> * are available buffers in mymodule, and return 0 (all good)</span> |
| <span class="cm"> * if true, and -1 (error) if not.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">mymodule_has_buffers</span><span class="p">())</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="p">(</span><span class="mi">0</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span><span class="w"> </span><span class="k">else</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="p">(</span><span class="mi">-1</span><span class="p">);</span> |
| <span class="w"> </span><span class="p">}</span> |
| <span class="p">}</span> |
| |
| <span class="k">static</span><span class="w"> </span><span class="kt">int</span> |
| <span class="nf">mymodule_register_sanity_check</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span> |
| <span class="p">{</span> |
| <span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="nc">os_sanity_check</span><span class="w"> </span><span class="n">sc</span><span class="p">;</span> |
| |
| <span class="w"> </span><span class="n">os_sanity_check_init</span><span class="p">(</span><span class="o">&</span><span class="n">sc</span><span class="p">);</span> |
| <span class="w"> </span><span class="cm">/* Only assert() if mymodule_perform_sanity_check() fails 50</span> |
| <span class="cm"> * times. SANITY_TASK_INTERVAL is defined by the user, and</span> |
| <span class="cm"> * is the frequency at which the sanity_task runs in seconds.</span> |
| <span class="cm"> */</span> |
| <span class="w"> </span><span class="n">OS_SANITY_CHECK_SETFUNC</span><span class="p">(</span><span class="o">&</span><span class="n">sc</span><span class="p">,</span><span class="w"> </span><span class="n">mymodule_perform_sanity_check</span><span class="p">,</span><span class="w"> </span><span class="nb">NULL</span><span class="p">,</span> |
| <span class="w"> </span><span class="mi">50</span><span class="w"> </span><span class="o">*</span><span class="w"> </span><span class="n">SANITY_TASK_INTERVAL</span><span class="p">);</span> |
| |
| <span class="w"> </span><span class="n">rc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">os_sanity_check_register</span><span class="p">(</span><span class="o">&</span><span class="n">sc</span><span class="p">);</span> |
| <span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="mi">0</span><span class="p">)</span><span class="w"> </span><span class="p">{</span> |
| <span class="w"> </span><span class="k">goto</span><span class="w"> </span><span class="n">err</span><span class="p">;</span> |
| <span class="w"> </span><span class="p">}</span> |
| |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="p">(</span><span class="mi">0</span><span class="p">);</span> |
| <span class="nl">err</span><span class="p">:</span> |
| <span class="w"> </span><span class="k">return</span><span class="w"> </span><span class="p">(</span><span class="n">rc</span><span class="p">);</span> |
| <span class="p">}</span> |
| </pre></div> |
| </div> |
| <p>In the above example, every time the custom sanity check |
| <code class="docutils literal notranslate"><span class="pre">mymodule_perform_sanity_check</span></code> returns successfully (0), the sanity |
| check is reset. In the c:macro:<cite>OS_SANITY_CHECK_SETFUNC</cite> macro, the sanity |
| checkin interval is specified as 50 * <code class="xref c c-macro docutils literal notranslate"><span class="pre">SANITY_TASK_INTERVAL</span></code> (which is |
| the interval at which the sanity task runs.) This means that the |
| <code class="docutils literal notranslate"><span class="pre">mymodule_perform_sanity_check()</span></code> function needs to fail 50 times |
| consecutively before the sanity task will crash the system.</p> |
| <p><strong>TIP:</strong> When checking things like memory buffers, which can be |
| temporarily be exhausted, it’s a good idea to have the sanity check fail |
| multiple consecutive times before crashing the system. This will avoid |
| crashing for temporary failures.</p> |
| </div> |
| <div class="section" id="api"> |
| <h2>API<a class="headerlink" href="#api" title="Permalink to this headline">¶</a></h2> |
| <dl class="c type"> |
| <dt id="c.os_sanity_check_func_t"> |
| <span class="target" id="group___o_s_sanity_1ga354458457ad42d0bab3d8d08de482fc9"></span><em class="property"><span class="pre">typedef</span> </em><span class="pre">int</span> <span class="pre">(</span><span class="pre">*</span><code class="sig-name descname"><span class="pre">os_sanity_check_func_t</span></code><span class="pre">)</span><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_sanity_check" title="os_sanity_check"><span class="pre">os_sanity_check</span></a><span class="pre">*</span>, <span class="pre">void</span><span class="pre">*</span><span class="sig-paren">)</span><a class="headerlink" href="#c.os_sanity_check_func_t" title="Permalink to this definition">¶</a><br /></dt> |
| <dd></dd></dl> |
| |
| <dl class="c function"> |
| <dt id="c.os_sanity_task_checkin"> |
| <span class="target" id="group___o_s_sanity_1ga048cde3537cb470594fc2528201572ba"></span><span class="pre">int</span> <code class="sig-name descname"><span class="pre">os_sanity_task_checkin</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="../task/task.html#c.os_task" title="os_task"><span class="pre">os_task</span></a><span class="pre">*</span><span class="sig-paren">)</span><a class="headerlink" href="#c.os_sanity_task_checkin" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Provide a “task checkin” for the sanity task. </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>0 on success, error code on failure </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">t</span></code>: The task to check in</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c function"> |
| <dt id="c.os_sanity_check_init"> |
| <span class="target" id="group___o_s_sanity_1ga34eb185813afec28e2d61059e2fdd064"></span><span class="pre">int</span> <code class="sig-name descname"><span class="pre">os_sanity_check_init</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_sanity_check" title="os_sanity_check"><span class="pre">os_sanity_check</span></a><span class="pre">*</span><span class="sig-paren">)</span><a class="headerlink" href="#c.os_sanity_check_init" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Initialize a sanity check. </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>0 on success, error code on failure. </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">sc</span></code>: The sanity check to initialize</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c function"> |
| <dt id="c.os_sanity_check_register"> |
| <span class="target" id="group___o_s_sanity_1ga2c5ad3969bf12870a0adfa7b9a8a8611"></span><span class="pre">int</span> <code class="sig-name descname"><span class="pre">os_sanity_check_register</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_sanity_check" title="os_sanity_check"><span class="pre">os_sanity_check</span></a><span class="pre">*</span><span class="sig-paren">)</span><a class="headerlink" href="#c.os_sanity_check_register" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Register a sanity check. </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>0 on success, error code on failure </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">sc</span></code>: The sanity check to register</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c function"> |
| <dt id="c.os_sanity_check_reset"> |
| <span class="target" id="group___o_s_sanity_1ga92ea98a26001d84aee06d600c62b7140"></span><span class="pre">int</span> <code class="sig-name descname"><span class="pre">os_sanity_check_reset</span></code><span class="sig-paren">(</span><em class="property"><span class="pre">struct</span></em> <a class="reference internal" href="#c.os_sanity_check" title="os_sanity_check"><span class="pre">os_sanity_check</span></a><span class="pre">*</span><span class="sig-paren">)</span><a class="headerlink" href="#c.os_sanity_check_reset" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Reset the os sanity check, so that it doesn’t trip up the sanity timer. </p> |
| <p><dl class="simple"> |
| <dt><strong>Return</strong></dt><dd><p>0 on success, error code on failure </p> |
| </dd> |
| <dt><strong>Parameters</strong></dt><dd><ul class="breatheparameterlist simple"> |
| <li><p><code class="docutils literal notranslate"><span class="pre">sc</span></code>: The sanity check to reset</p></li> |
| </ul> |
| </dd> |
| </dl> |
| </p> |
| </dd></dl> |
| |
| <dl class="c macro"> |
| <dt id="c.OS_SANITY_CHECK_SETFUNC"> |
| <span class="target" id="group___o_s_sanity_1ga53501a44869b9cda63c92f031d8a46c5"></span><code class="sig-name descname"><span class="pre">OS_SANITY_CHECK_SETFUNC</span></code><span class="sig-paren">(</span><em><span class="pre">__sc</span></em>, <em><span class="pre">__f</span></em>, <em><span class="pre">__arg</span></em>, <em><span class="pre">__itvl</span></em><span class="sig-paren">)</span><a class="headerlink" href="#c.OS_SANITY_CHECK_SETFUNC" title="Permalink to this definition">¶</a><br /></dt> |
| <dd></dd></dl> |
| |
| <dl class="c struct"> |
| <dt id="c.os_sanity_check"> |
| <span class="target" id="structos__sanity__check"></span><em class="property"><span class="pre">struct</span> </em><code class="sig-name descname"><span class="pre">os_sanity_check</span></code><a class="headerlink" href="#c.os_sanity_check" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><em>#include <os_sanity.h></em><div class="breathe-sectiondef docutils container"> |
| <p class="breathe-sectiondef-title rubric" id="breathe-section-title-public-members">Public Members</p> |
| <dl class="c var"> |
| <dt id="c.os_sanity_check.sc_checkin_last"> |
| <span class="target" id="structos__sanity__check_1a7701ac67d9e7ba081cef9a6540a35003"></span><a class="reference internal" href="../time/os_time.html#c.os_time_t" title="os_time_t"><span class="pre">os_time_t</span></a> <code class="sig-name descname"><span class="pre">sc_checkin_last</span></code><a class="headerlink" href="#c.os_sanity_check.sc_checkin_last" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Time this check last ran successfully. </p> |
| </dd></dl> |
| |
| <dl class="c var"> |
| <dt id="c.os_sanity_check.sc_checkin_itvl"> |
| <span class="target" id="structos__sanity__check_1ad9b79d0e7c0dcc9fcbfe57d2b7d43c53"></span><a class="reference internal" href="../time/os_time.html#c.os_time_t" title="os_time_t"><span class="pre">os_time_t</span></a> <code class="sig-name descname"><span class="pre">sc_checkin_itvl</span></code><a class="headerlink" href="#c.os_sanity_check.sc_checkin_itvl" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Interval this task should check in at. </p> |
| </dd></dl> |
| |
| <dl class="c var"> |
| <dt id="c.os_sanity_check.sc_func"> |
| <span class="target" id="structos__sanity__check_1ab5be2cbf4891bc9f42f25b7f4cfb9b45"></span><a class="reference internal" href="#c.os_sanity_check_func_t" title="os_sanity_check_func_t"><span class="pre">os_sanity_check_func_t</span></a> <code class="sig-name descname"><span class="pre">sc_func</span></code><a class="headerlink" href="#c.os_sanity_check.sc_func" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Sanity check to run. </p> |
| </dd></dl> |
| |
| <dl class="c var"> |
| <dt id="c.os_sanity_check.sc_arg"> |
| <span class="target" id="structos__sanity__check_1a5b22c20409427a0561fb2418a251706a"></span><span class="pre">void</span> <span class="pre">*</span><code class="sig-name descname"><span class="pre">sc_arg</span></code><a class="headerlink" href="#c.os_sanity_check.sc_arg" title="Permalink to this definition">¶</a><br /></dt> |
| <dd><p>Argument to pass to sanity check. </p> |
| </dd></dl> |
| |
| </div> |
| </dd></dl> |
| |
| </div> |
| </div> |
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